Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

67 Citations (Scopus)

Abstract

In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers. The surface of the planetary body is largely covered with powdery soil. On such loose soil, the wheel slippage which will make the rover get stuck must be concerned. Since the slippage dynamically depends on the posture/velocity of vehicle, soil characteristics, and wheel-soil interactions, it becomes difficult issues to incorporate the wheel slip dynamics as a criterion into path-planning algorithms. To tackle the slippage problem, the authors develop the path-planning algorithm and the path-evaluation method based on the following approach. First, a path on a rough terrain is generated with the terrain-based criteria function. Subsequently, the dynamics simulation of a rover is carried out in which the rover is controlled to follow the candidate path. Finally, the path is properly evaluated based on the slip motion profiles calculated by the simulation. Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the slip motion profile of the rover.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2361-2366
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

Fingerprint

Motion planning
Wheels
Soils
Demonstrations
Computer simulation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Ishigami, G., Nagatani, K., & Yoshida, K. (2007). Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2361-2366). [4209436] https://doi.org/10.1109/ROBOT.2007.363672

Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics. / Ishigami, Genya; Nagatani, Keiji; Yoshida, Kazuya.

Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 2361-2366 4209436.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ishigami, G, Nagatani, K & Yoshida, K 2007, Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics. in Proceedings - IEEE International Conference on Robotics and Automation., 4209436, pp. 2361-2366, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363672
Ishigami G, Nagatani K, Yoshida K. Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 2361-2366. 4209436 https://doi.org/10.1109/ROBOT.2007.363672
Ishigami, Genya ; Nagatani, Keiji ; Yoshida, Kazuya. / Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 2361-2366
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